Disable GPS Check Results In Blank "PreArm: " Error Unless INS Check Also Disabled

Hello all,

I am trying to get a quad plane to hover indoors without GPS. It flies outdoors with GPS just fine. It will not pass prearm checks unless I disable accel and gyro checks (which I do not want to do.) I Changed the following parameters:

Arming_Check,4086 or 7670 (the difference is if GPS Setup is checked but result in the same behavior)

When I try to arm I get an error of “PreArm:” that’s it, no description following the error.

If I change Arming_Check to 3558 or 7654 to disable INS check it passes the arm check.

What am I missing here?


2Feb18_XLVert.param (16.2 KB)